{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T11:03:37Z","timestamp":1777633417792,"version":"3.51.4"},"reference-count":37,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T00:00:00Z","timestamp":1653955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NEWAM","award":["EP\/R027218\/1"],"award-info":[{"award-number":["EP\/R027218\/1"]}]},{"name":"NEWAM","award":["EP\/R513349\/1"],"award-info":[{"award-number":["EP\/R513349\/1"]}]},{"name":"NEWAM","award":["EP\/P030165\/1"],"award-info":[{"award-number":["EP\/P030165\/1"]}]},{"name":"EPSRC Doctoral Training Partnership (DTP)","award":["EP\/R027218\/1"],"award-info":[{"award-number":["EP\/R027218\/1"]}]},{"name":"EPSRC Doctoral Training Partnership (DTP)","award":["EP\/R513349\/1"],"award-info":[{"award-number":["EP\/R513349\/1"]}]},{"name":"EPSRC Doctoral Training Partnership (DTP)","award":["EP\/P030165\/1"],"award-info":[{"award-number":["EP\/P030165\/1"]}]},{"name":"RoboWAAM","award":["EP\/R027218\/1"],"award-info":[{"award-number":["EP\/R027218\/1"]}]},{"name":"RoboWAAM","award":["EP\/R513349\/1"],"award-info":[{"award-number":["EP\/R513349\/1"]}]},{"name":"RoboWAAM","award":["EP\/P030165\/1"],"award-info":[{"award-number":["EP\/P030165\/1"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The demand for cost-efficient manufacturing of complex metal components has driven research for metal Additive Manufacturing (AM) such as Wire + Arc Additive Manufacturing (WAAM). WAAM enables automated, time- and material-efficient manufacturing of metal parts. To strengthen these benefits, the demand for robotically deployed in-process Non-Destructive Evaluation (NDE) has risen, aiming to replace current manually deployed inspection techniques after completion of the part. This work presents a synchronized multi-robot WAAM and NDE cell aiming to achieve (1) defect detection in-process, (2) enable possible in-process repair and (3) prevent costly scrappage or rework of completed defective builds. The deployment of the NDE during a deposition process is achieved through real-time position control of robots based on sensor input. A novel high-temperature capable, dry-coupled phased array ultrasound transducer (PAUT) roller-probe device is used for the NDE inspection. The dry-coupled sensor is tailored for coupling with an as-built high-temperature WAAM surface at an applied force and speed. The demonstration of the novel ultrasound in-process defect detection approach, presented in this paper, was performed on a titanium WAAM straight sample containing an intentionally embedded tungsten tube reflectors with an internal diameter of 1.0 mm. The ultrasound data were acquired after a pre-specified layer, in-process, employing the Full Matrix Capture (FMC) technique for subsequent post-processing using the adaptive Total Focusing Method (TFM) imaging algorithm assisted by a surface reconstruction algorithm based on the Synthetic Aperture Focusing Technique (SAFT). The presented results show a sufficient signal-to-noise ratio. Therefore, a potential for early defect detection is achieved, directly strengthening the benefits of the AM process by enabling a possible in-process repair.<\/jats:p>","DOI":"10.3390\/s22114203","type":"journal-article","created":{"date-parts":[[2022,6,1]],"date-time":"2022-06-01T21:43:42Z","timestamp":1654119822000},"page":"4203","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Collaborative Robotic Wire + Arc Additive Manufacture and Sensor-Enabled In-Process Ultrasonic Non-Destructive Evaluation"],"prefix":"10.3390","volume":"22","author":[{"given":"Rastislav","family":"Zimermann","sequence":"first","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0819-6592","authenticated-orcid":false,"given":"Ehsan","family":"Mohseni","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Momchil","family":"Vasilev","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3465-8076","authenticated-orcid":false,"given":"Charalampos","family":"Loukas","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1023-2564","authenticated-orcid":false,"given":"Randika K. W.","family":"Vithanage","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Charles N.","family":"Macleod","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8538-2914","authenticated-orcid":false,"given":"David","family":"Lines","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6003-7751","authenticated-orcid":false,"given":"Yashar","family":"Javadi","sequence":"additional","affiliation":[{"name":"Centre for Ultrasonic Engineering, University of Strathclyde, Glasgow G1 1XW, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Misael Pimentel","family":"Espirindio E Silva","sequence":"additional","affiliation":[{"name":"Advanced Forming Research Centre, University of Strathclyde, Renfrew PA4 9LJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephen","family":"Fitzpatrick","sequence":"additional","affiliation":[{"name":"Advanced Forming Research Centre, University of Strathclyde, Renfrew PA4 9LJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Steven","family":"Halavage","sequence":"additional","affiliation":[{"name":"Advanced Forming Research Centre, University of Strathclyde, Renfrew PA4 9LJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Scott","family":"Mckegney","sequence":"additional","affiliation":[{"name":"Advanced Forming Research Centre, University of Strathclyde, Renfrew PA4 9LJ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephen Gareth","family":"Pierce","sequence":"additional","affiliation":[{"name":"Welding Engineering and Laser Processing Centre, University of Cranfield, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stewart","family":"Williams","sequence":"additional","affiliation":[{"name":"Welding Engineering and Laser Processing Centre, University of Cranfield, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jialuo","family":"Ding","sequence":"additional","affiliation":[{"name":"Welding Engineering and Laser Processing Centre, University of Cranfield, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,31]]},"reference":[{"key":"ref_1","unstructured":"(2022, January 17). 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